Method for emptying cleaning robots and cleaning system

ABSTRACT

A method for emptying cleaning robots and cleaning system, having a dirt collection unit and a suction interface using a trolley, configured to store the plurality of cleaning robots outside their cleaning phase in which they carry out cleaning tasks, and which has a suction system with a foldable suction platform, a suction opening, a dirt container, and a blower. The method includes the steps of unfolding the suction platform of the trolley, if it is folded, so that it is arranged on a substrate on which the trolley stands in an operational set-up position, arranging one of the cleaning robots on the unfolded suction platform, aligning the suction interface to the suction opening, and activating the blower in order to empty the cleaning robot arranged and aligned on the suction platform so that dirt is transported from the dirt collection unit into the dirt container.

RELATED APPLICATIONS

The present disclosure claims priority to and the benefit of Belgium Application 2021/5354 filed on May 3, 2021, the entire contents of which are incorporated herein by reference.

TECHNICAL FIELD

The disclosure relates to a method for emptying cleaning robots and a cleaning system. In particular, the disclosure relates to a method for emptying cleaning robots, in which the cleaning robots, which are stored in a trolley outside of a cleaning phase in which they carry out their cleaning tasks, can approach the trolley for emptying during the cleaning phase, and a cleaning system that is designed to carry out the method.

BACKGROUND

A cleaning station that has a fleet of several autonomous or self-propelled cleaning robots and one or more base stations that is or are designed for emptying and supplying power is used in particular for cleaning larger commercial floor areas such as sales areas in fashion stores. The following problems arise here: Outside the cleaning phase, i.e. when the cleaning robots are not performing any cleaning tasks, the fleet or the individual cleaning robots of the fleet together with their base station(s) take up a lot of space. In the commercial application context, this high space requirement of the cleaning system is problematic. In retail areas in particular, every occupied square meter represents a direct intervention in the profitability of the business in question. In addition, the appearance of the goods can be adversely affected by the robots standing around. There is also a risk that the cleaning robots will be stolen or damaged outside of the cleaning phase.

In order to avoid these problems, it is advantageous if the cleaning robots of the fleet are deployed to the area to be cleaned at the beginning of each cleaning operation and removed from the area to be cleaned and safely stowed away after cleaning is complete. The cleaning robots should be brought in and taken out as autonomously as possible without manual activities by personnel so that personnel costs do not have a negative impact on economic efficiency.

DE 10 2019 110 539 A1 discloses a cleaning station in the form of a robot for transporting self-propelled cleaning robots with a drive device for autonomous movement over a floor surface. The robot has a sensor device for detecting its surroundings, a storage device for the cleaning robots, and a movement device for moving the cleaning robots, which is designed in such a way that it can pick up one of the cleaning robots from the floor surface and place it in the storage device of the robot.

However, we have discovered this robot has some disadvantages: Dust and dirt particles are removed from the self-propelled cleaning robots when they are arranged in the robot's storage facility. An interim emptying during the cleaning phase is therefore only possible if the cleaning robots are in the storage facility. The storage and retrieval process takes a relatively long time and reduces the efficiency of the overall system, since the cleaning robot concerned cannot carry out its cleaning task during this time. It is also preferred that the robot has a cleaning device for cleaning the self-propelled cleaning robots in the storage locations. In this case too, the cleaning robots have to be brought into the storage locations for an interim cleaning during the cleaning phase in which they are to carry out their cleaning tasks, which is time-consuming and thus reduces efficiency. The components required to fulfill the suction and cleaning functions must be installed in every storage space within the storage facility. This means very high production costs. In addition, the susceptibility to errors and the need for maintenance are very high. Because the components are installed inside the robot, accessibility and thus maintenance is difficult and time-consuming. Overall, the robot requires many components, takes up a lot of space, is not compact, has large external dimensions and is heavy, making it difficult to transport.

SUMMARY

The disclosure therefore addresses the problem of providing a method for emptying cleaning robots and a cleaning system, in which the cleaning robots can be emptied during the cleaning phase without the cleaning robot concerned having to be placed in a storage device. In addition, the cleaning system should have a compact, lightweight, space-saving trolley that is easy to handle, maintain, repair, and access and has as few components as possible and is inexpensive.

According to the disclosure, this problem is solved by a method having the features of claim 1 and a cleaning system having the features of claim 10. Advantageous embodiments and developments of the disclosure result from the following dependent claims.

The advantages achievable with the disclosure are, in addition to the provision of emptying or suctioning of the cleaning robots during the cleaning phase, that this is possible quickly, without the cleaning robot concerned having to be laboriously brought into the trolley via a lift system. Rather, the cleaning robot concerned can arrange itself independently on the suction platform in order to be emptied. This increases the efficiency and performance of the entire cleaning system. In addition, the cleaning system is inexpensive. Maintenance and repair costs are reduced.

The disclosure relates to a method for emptying cleaning robots with a dirt collection unit and a suction interface using a trolley, which is designed to store the plurality of cleaning robots outside of their cleaning phase in which they carry out cleaning tasks, and which has a suction system with a foldable suction platform, a suction opening, a dirt container, and a blower, the method having the following steps:

unfolding the suction platform of the trolley, if it is folded, so that it is placed on a substrate on which the trolley stands in an operational set-up position, arranging one of the cleaning robots on the unfolded suction platform, aligning the suction interface to the suction opening, and activating the blower in order to empty the cleaning robot arranged and aligned on the suction platform so that dirt is transported from the dirt collection unit into the dirt container.

The fact that the cleaning robot to be emptied or suctioned does not have to be transported into the interior of the trolley for vacuuming, the vacuuming of the cleaning robots is possible in a simple and time-efficient manner. Information on position and direction refers to an operational set-up position of the trolley.

The foldable suction platform, via which the cleaning robots can be suctioned during and after their cleaning operation, is preferably folded out of a space-saving transport position in which it is folded at the beginning of the cleaning phase. Unfolding can be done manually. Alternatively, the unfolding is carried out automatically, for example by means of an electric motor provided for this purpose in the trolley. The suction plafform has appropriate hinges for folding and unfolding. If the suction platform can be folded manually, it preferably has a recessed handle to simplify folding and unfolding. In the folded state, when the suction platform is in the transport position, it does not touch the substrate. Rather, it is preferably arranged vertically or essentially vertically to the substrate.

In the unfolded state, the suction platform is ready to suction a cleaning robot arranged on it. The phrase “cleaning robot arranged on the suction platform” means that the cleaning robot is positioned above the suction plafform. When the cleaning robot drives onto the suction platform so that it is arranged on it, it can, but does not have to, touch it by means of its wheels. Even if the cleaning robot does not touch the suction platform by means of its wheels, its body is positioned above it when it is arranged. In the unfolded state, the suction platform preferably lies flat on the substrate on which the trolley is standing in an operational working position. The suction platform preferably has a ramp or a beveled end so that the cleaning robots can easily move from the suction platform to the substrate and vice versa.

Arranging one of the cleaning robots on the folded-out suction platform is preferably realized by the cleaning robot concerned approaching autonomously. The cleaning robot preferably also aligns the suction interface of the cleaning robot concerned with the suction opening of the trolley or at least supports it. Preferably, the cleaning robot uses electronic components, for example an IR interface, to align itself. The activation of the blower in order to empty the cleaning robot arranged and aligned on the suction platform is preferably carried out by a controller of the trolley. For example, a sensor can detect that the cleaning robot is aligned on the suction platform and send a corresponding signal to the controller, which then activates the blower.

The cleaning robots that can be stowed or stored in the trolley are preferably suction and/or wiping robots, more preferably suction robots that are autonomous and self-propelled. Preferably at least two, preferably at least 3 to 15, more preferably 4 to 10 cleaning robots can be stowed in the trolley. The cleaning robots each have the dirt collection unit in which dirt is collected during the execution of their cleaning task.

The suction system has a blower that is designed to generate an air flow when activated by means of which a cleaning robot arranged on the suction platform is emptied by suction. It also has the dirt container, in which the dirt suctioned out of the cleaning robots is collected. The dirt container is preferably detachably connected to the trolley so that it can be removed from it if required. The suction opening is preferably integrated into the suction platform and connected to the dirt container via a suction channel. The suction channel preferably extends below the lowest storage option for the cleaning robots to the rear of the trolley, where the dirt container is preferably arranged. The blower is preferably arranged below the dirt container. The exhaust air from the blower is preferably discharged via an exhaust vent in the trolley, in front of which an exhaust air filter is preferably placed. In this way, one of the cleaning robots can be efficiently emptied by means of a suction flow through the blower when it is positioned on the suction platform.

A cleaning robot to be emptied preferably moves autonomously onto the suction platform so that it is arranged on it. Preferably, when the cleaning robot drives from the substrate onto the suction platform in order to arrange and align itself on it, it aligns itself using an infrared interface of the trolley in order to assume a position required for suction. In this position, the suction opening is in line with the suction interface of the cleaning robot so that, when the blower is activated, an air flow can be generated that cannot exit the system at an boundary surface between the suction opening and the suction interface.

In a preferred embodiment, the cleaning robot arranged on the suction platform is also cleaned mechanically or by sensors. The suction system is thus designed to remove dirt from the cleaning robots that result from their cleaning operation. This can be superficial dirt on the housing of the cleaning robots. In addition, the suction system can clean the sensors and cleaning elements of the cleaning robots from dirt. These additional cleaning functions can be built into the foldable suction platform. These include, for example, functions such as brush cleaning, sensor cleaning, or the like.

The suction channel, which connects the suction opening to the dirt container, preferably adapts flexibly to the suction interface for or during the alignment of the suction interface with the suction opening. The suction channel is preferably designed to be flexible at its coupling point to the foldable suction platform, for example using a rubber connecting sleeve, which is slightly tensioned when the suction platform is folded out and adapts by stretching. When the suction platform is in the folded state, the rubber connecting sleeve is preferably relieved or, if necessary, slightly compressed.

In a preferred embodiment, the suction platform can be approached by the active cleaning robots at any time during a cleaning phase in which active cleaning robots are carrying out cleaning tasks. This can be achieved by the fact that the trolley is ready for operation during the cleaning phase and the suction platform is permanently unfolded during the cleaning phase. As a result, all active cleaning robots can approach the suction platform at any time during the cleaning phase in order to be suctioned and, if necessary, cleaned.

In a cleaning phase in which active cleaning robots are carrying out cleaning tasks, the trolley preferably sends a signal to active cleaning robots which is received by the active cleaning robots and enables them to approach the trolley and find it if they want to approach it. The signal can be an IR guide beam which allows the trolley or suction platform to be precisely located and approached. Alternatively, a LiDar reflector can be used which emits a corresponding signal. As an alternative or in addition, the cleaning robots can also locate the trolley using maps stored in them and/or maps actively created by them.

In a preferred embodiment, when one of the cleaning robots approaches the trolley for emptying, it sends a signal to the trolley to request whether it can position itself on the suction platform for emptying. If the suction platform is free, the trolley preferably sends a free signal to the requesting cleaning robot that the requesting cleaning robot can arrange itself on the suction platform, and if the suction platform is occupied by another cleaning robot, the trolley sends a waiting signal to the requesting cleaning robot so that the requesting cleaning robot remains in a waiting position until it receives the free signal from the trolley. As soon as the cleaning robot has taken up the appropriate position on the suction platform, its suction and any necessary cleaning steps such as for example brush cleaning begin. In an alternative embodiment, the communication for the emptying management of cleaning robots takes place between cleaning robots and a central server. Such a server can be a cloud server, for example. As a result, the cleaning robots only communicate with the server and not with the trolley. In a further alternative embodiment, the cleaning robots only communicate with one another and thus organize the occupancy of the suction platform.

In a preferred embodiment, a cleaning robot arranged on the suction platform leaves the suction platform after it has been emptied and, if necessary, cleaned. After completion of the suction and, if necessary, cleaning, the cleaning robot preferably leaves the suction platform autonomously and continues to carry out its cleaning task.

As a result, another cleaning robot can be suctioned immediately after the suctioning of one of the cleaning robots has ended. This further increases the time efficiency of the method.

Preferably, when the alignment of the suction interface with the suction opening is completed, a start signal is sent to the blower to activate the blower. For this purpose, a controller of the trolley preferably sends a start signal to the blower. This embodiment of the method is also time-saving.

In a preferred embodiment, after completing its cleaning task, each active cleaning robot positions itself on the suction platform, aligns itself, and is emptied. At the end of the cleaning phase, each cleaning robot is preferably suctioned and, if necessary, cleaned before it is stored in the trolley. This ensures that all cleaning robots are fully functional for each new cleaning task.

Furthermore, if required, the dirt container can be removed and emptied, for example after each cleaning phase. For this purpose, there is preferably a recessed handle on the dirt container. Using this handle, the dirt container can be removed directly from the trolley, preferably from the outside, and reinserted after emptying.

In order to bring the trolley to the next place of use or its parking location, the unfolded suction platform is preferably folded back from the unfolded state so that it is folded and is in its transport position. In this transport position, the suction platform is preferably fixed to the trolley by means of locking elements. The trolley preferably has transport rollers which enable the trolley to be moved.

Furthermore, the disclosure relates to a cleaning system with a trolley and a plurality of cleaning robots, which is designed to carry out a method according to one or more of the embodiments described above.

The trolley is designed for stowing, suctioning, and preferably supplying power to the cleaning robots. In addition to the suction system, the trolley preferably has: A power supply unit that is designed to be connected to a power grid, storage compartments for storing the cleaning robots, transport rollers that are designed to move the trolley over a substrate, and a lift system that is designed to move the cleaning robots individually into the interior of the trolley and into the storage compartments and preferably bring out the storage compartments from inside the trolley.

The trolley preferably has at least one door element, which can be arranged in such a way that it closes or exposes the foldable suction platform. The door element, together with the outer walls of the trolley, forms a housing which, when the door element is closed, completely encloses the interior of the trolley. The cleaning robots stored in the trolley and the interior of the trolley are completely enclosed. The door element protects the individual cleaning robots from theft or damage from external influences during storage in the trolley.

The trolley has an power supply unit which is designed to supply the trolley and the cleaning robots stowed in it with electrical energy. In other words, the power supply unit is designed to supply electrical energy to all the components of the trolley and also to the power storage units of the cleaning robots. The trolley can have a mains connection for charging the power supply unit. The mains connection can be easily disconnected from the mains if required when the trolley is to be moved to a job site. Alternatively or additionally, the power supply unit is arranged in and/or on the trolley in a removable manner in the form of a rechargeable battery. The power supply unit enables cleaning operation which is largely autonomous from existing connections to the building power supply network. In addition, the omission of a mains connection cable, which would otherwise be required, increases the degree of mobility of the trolley. In addition, the use of a rechargeable battery as a power supply unit can be advantageous because commercial areas usually have a manageable number of sockets, and the trolley can be positioned freely on the area to be cleaned and is not tied to sockets locally. In this way, the most sensible position on the surface to be cleaned can be selected in terms of efficient use of the cleaning robot fleet.

Each storage compartment preferably has a charging contact which is designed to make contact with a cleaning robot arranged in the corresponding storage compartment in order to supply the cleaning robot with power using the power supply unit.

One or more maintenance flaps are preferably integrated into the housing of the trolley. This preferably makes the entire suction channel, including its interfaces to the suction platform and the dirt container, quickly and easily accessible. Furthermore, the dirt container and the blower are preferably accessible via a maintenance flap.

In a preferred embodiment, the suction platform is also constructed as a module that can be easily removed from the trolley. This means that, in the event of repairs, it can be detached as one piece with simple means and replaced with a new module or a new suction platform.

In a preferred embodiment, the dirt container, the blower, and, if necessary, the exhaust air filter are also designed as a module that can be easily removed from the trolley. This means that these components can be detached as one piece in the event of repairs using simple means and replaced by a new module or new components in one piece.

BRIEF DESCRIPTION OF THE DRAWINGS

An embodiment of the disclosure is shown purely schematically in the drawings and is described in more detail below. In the drawings, which are schematic and not to scale:

FIGS. 1 to 6 show a sequence of a method according to the disclosure in a partial side/partial cross-sectional view, partial side/partial top-down view, or cross-sectional view of a cleaning system according to the disclosure;

FIG. 7 is a cross-sectional view of a variant of the cleaning system shown in FIG. 1;

FIG. 8 is another cross-sectional view of the cleaning system shown in FIG. 1 or 7;

FIG. 9 is a side view of another variant of the cleaning system shown in FIG. 1 or 7; and

FIG. 10 is another side view of the cleaning system shown in FIG. 9.

DETAILED DESCRIPTION OF THE DRAWINGS

FIGS. 1 to 6 show a sequence of a method according to the disclosure in a partial side view/partial cross-sectional view, partial top-down view/partial cross-sectional view, and cross-sectional view of a cleaning system according to the disclosure.

FIG. 1 shows a partial side/partial cross-sectional view of the cleaning system of the present disclosure in a transport position. The cleaning system according to the disclosure has a trolley 1 and several cleaning robots R, which can be stored in the trolley 1 and are in the transport position in the trolley 1. In a cleaning phase, in which the cleaning robots R carry out their cleaning tasks, the cleaning robots R leave the trolley 1; this is not shown in FIG. 1. The cleaning robots are self-propelled and autonomous. The trolley 1 has a housing 14 in which there are several storage compartments 2 which are arranged vertically one above the other. One of the cleaning robots R is accommodated in each storage compartment 2 in the transport position in order to be brought out of the storage compartments 2 to carry out cleaning tasks and brought back in after the respective cleaning task has been completed.

The trolley 1 also has a suction platform 3 which is used to enable the cleaning robots R to be arranged individually on it in order to be emptied from the trolley 1 by means of suction. The trolley 1 has a ramp 6 which is connected to the suction platform 3 or is formed in one piece in order to make it easier for the cleaning robots R to drive onto and off the suction platform 3. The trolley 1 also has a connecting sleeve 10 which serves as a coupling point between a suction channel of the trolley 1 and a suction interface (not shown) of each cleaning robot R in order to facilitate coupling of the cleaning robot R to the suction platform 3 for emptying. The trolley 1 has a door element (not shown) which, together with the housing 14, encloses the cleaning robots R during their storage in the trolley 1. The suction platform 3 can be folded using a hinge 4. In FIG. 1, it is shown in a folded state. The trolley 1 also has transport rollers 15 by means of which it can be displaced or moved on a substrate U in the operational working position.

FIG. 2 shows a partial top-down view/partial cross-sectional view of the cleaning system shown in FIG. 1. The trolley 1 also has a handle 11 for allowing a user (not shown) to detach a dirt container SB of the suction system from the trolley 1 in order to empty it. Furthermore, the trolley 1 has a handle 16 to enable the user to move the trolley 1 by pulling or pushing it with the help of the transport rollers (not shown). The trolley 1 also has an infrared interface IR by means of which a cleaning robot R arranged on the suction platform 3 can position itself. The trolley 1 also has a controller S which is designed to control the emptying of the cleaning robots R, among other things. The controller S can be placed under a control panel (not shown), which covers it.

FIG. 3 shows a partial side/partial cross-sectional view of the cleaning system according to the disclosure in a state in which a method step is carried out, in which the folded suction platform 3 shown in FIG. 1 is unfolded. The suction platform 3 is folded out in the direction of the arrow in such a way that it is placed on the substrate U on which the trolley 1 is standing in the operational set-up position. The trolley 1 has a suction opening 7 and a suction channel 8. The suction opening 7 is integrated into the suction platform 3, while the suction channel 8 connects the suction opening to the dirt container (not shown). All cleaning robots R are still arranged in their respective storage compartment 2. Each of the cleaning robots R has a dirt collecting unit (not shown) in which dirt picked up while performing a cleaning task is collected, and a suction interface (not shown) in order to be connected to the suction channel 8 by means of the suction opening 7 in such a way that its dirt collected in the dirt collection unit can be suctioned into the dirt container via the drain opening 7 and the suction channel 8.

FIG. 4 shows a partial top-down view/partial cross-sectional view of the cleaning system shown in FIG. 3 in the state in which the first method step is carried out, in which the folded suction platform 3 shown in FIG. 2 is unfolded. The suction platform 3 is folded out in such a way that the connecting sleeve 10, the IR interface, the suction opening 7, the ramp 6, and a recessed handle 5 are visible from above. The recessed handle 5 supports the user (not shown) in gripping the suction platform 3 and folding or unfolding it.

FIG. 5 shows a cross-sectional view of the cleaning system according to the disclosure during a suction process. During the suction process, one of the cleaning robots R is arranged on the unfolded suction platform 3 by driving onto it, and the suction interface (not shown) of the cleaning robot R is aligned with the suction opening 7. A blower G of the trolley 1 is then activated in order to empty the cleaning robot R arranged and aligned on the suction platform 3 so that dirt can be transported from the dirt collection unit (not shown) into the dirt container SB of the trolley 1 through the suction opening 7 and the suction channel 8. Activating the blower G generates a suction flow which sucks the dirt out of the dirt collection unit into the dirt container SB and leaves the trolley 1 via an exhaust vent 9 of the trolley 1 formed in the housing 14.

FIG. 6 shows a further cross-sectional view of the cleaning system shown in FIG. 5 during the suction process. The cleaning robot R is aligned on the suction platform 3 using the IR interface IR.

FIG. 7 shows a cross-sectional view of a variant of the cleaning system shown in FIG. 1. The cleaning system shown in FIG. 7 corresponds to the cleaning system shown in FIG. 1 with the difference that the hinge 4, the suction platform 3, and the ramp 6 are designed as a platform module 13 which can be replaced in one piece with another similar or identically constructed platform module 13, both of which can be connected to the connecting sleeve 10, and that the dirt container SB, the blower G, and the exhaust air filter 9 are part of a suction module 17 which can be exchanged in one piece for another similar or identically constructed suction module 17. That is, both the platform module 13 and the suction module 17 can be detached from the trolley 1 and replaced by another identical or similar module.

FIG. 8 shows another cross-sectional view of the cleaning system shown in FIG. 1 or 7. The suction channel 8 connects the dirt container SB to the suction opening 7 through the connecting sleeve 10.

FIG. 9 shows a side view of a further variant of the cleaning system shown in FIG. 1 or 7. The cleaning system shown in FIG. 9 corresponds to the cleaning system shown in FIG. 1 or 7 with the difference that the trolley 1 also has two maintenance flaps 12 which are integrated into the housing 14 and are shown in a closed state.

FIG. 10 shows another side view of the cleaning system shown in FIG. 9. In comparison to FIG. 9, the maintenance flaps 12 are open. By opening one maintenance flap 12, part of the suction channel 8 is accessible; by opening the other maintenance flap 12, another part of the suction channel 8, the dirt container SB, and the blower G are accessible.

LIST OF REFERENCE NUMERALS

IR IR interface

G Blower

R Cleaning robot

SB Dirt container

U Substrate

1 Trolley

2 Storage compartment

3 Suction platform

4 Hinge

5 Recessed handle

6 Ramp

7 Suction opening

8 Suction channel

9 Exhaust vent

10 Connecting sleeve

11 Handle

12 Maintenance flap

13 (Further) platform module

14 Housing

15 Transport wheels

16 Hand grip

17 (Further) suction module 

1. A method for emptying cleaning robots having a dirt collection unit and a suction interface by way of a trolley configured to store the plurality of cleaning robots outside of a cleaning phase in which the cleaning robots carry out cleaning tasks, and the trolley having a suction system with a foldable suction platform, a suction opening, a dirt container, and a blower, the method comprising the following steps: unfolding the suction platform of the trolley, if it is folded, so that the suction platform is arranged on a substrate on which the trolley stands in an operational set-up position, arranging one of the cleaning robots on the unfolded suction platform, aligning the suction interface to the suction opening, and activating the blower in order to empty the cleaning robot arranged and aligned on the suction platform so that dirt is transported from the dirt collection unit into the dirt container.
 2. The method according to claim 1, wherein the cleaning robot arranged on the suction platform is also cleaned mechanically or by sensors.
 3. The method according to claim 1, wherein a suction channel of the trolley, which connects the suction opening to the dirt container, flexibly adapts to the suction interface during the alignment of the suction interface with the suction opening.
 4. The method according to claim 1, wherein the suction platform can be approached by the active cleaning robots at any time during a cleaning phase in which the active cleaning robots are carrying out cleaning tasks.
 5. The method according to claim 1, wherein, in a cleaning phase in which the active cleaning robots carry out cleaning tasks, the trolley transmits a signal to active cleaning robots which the active cleaning robots receive and which enables them to approach the trolley and to find the trolley when they want to approach the trolley.
 6. The method according to claim 1, wherein one of the cleaning robots, when approaching the trolley for emptying, sends a signal to the trolley to request whether the one cleaning robot can arrange itself on the suction platform for emptying, and in that the trolley, if the suction platform is free, sends a free signal to the one cleaning robot that the one cleaning robot can arrange itself on the suction platform, and in that the trolley, if the suction platform is occupied by another cleaning robot, sends a waiting signal to the one cleaning robot so that it remains in a waiting position until it receives the free signal from the trolley.
 7. The method according to claim 1, wherein a cleaning robot arranged on the suction platform leaves the suction platform after it has been emptied.
 8. The method according to claim 1, wherein, when the alignment of the suction interface with the suction opening is completed, a start signal is sent to the blower to activate the blower.
 9. The method according to claim 1, wherein each active cleaning robot arranges and aligns itself on the suction platform after completing its cleaning task and is emptied by the suction platform.
 10. A cleaning system with a trolley and a plurality of cleaning robots, configured to carry out the method according to claim
 1. 